Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network

In this paper, an adaptive controller with structurally dynamic wavelet network is developed for a harmonic drive subject to parameter varying friction. The control architecture integrates a proportional controller, a feedback adaptive component and sliding component to adaptively compensate for the friction to achieve accurate position tracking. Global asymptotic stability of the algorithm is proved by using Lyapunov function. In parallel to the adaptive controller, a fuzzy reconfiguration scheme is devised to change the structure of the network along with weights updating to improve the system tracking performance and robustness. Experimental tests on a harmonic drive manipulator verify the effectiveness of the proposed control method.

[1]  Robert M. Sanner,et al.  Gaussian Networks for Direct Adaptive Control , 1991, 1991 American Control Conference.

[2]  Jean-Jacques E. Slotine,et al.  Adaptive sliding controller synthesis for non-linear systems , 1986 .

[3]  R. M. Sanner,et al.  Structurally dynamic wavelet networks for the adaptive control of uncertain robotic systems , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[4]  Carlos Canudas-de-Wit,et al.  Friction compensation for an industrial hydraulic robot , 1999 .

[5]  Qinghua Zhang,et al.  Using wavelet network in nonparametric estimation , 1997, IEEE Trans. Neural Networks.

[6]  Hualin Tan,et al.  Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties , 2003, IEEE Trans. Ind. Electron..

[7]  Jean-Jacques E. Slotine,et al.  Space-frequency localized basis function networks for nonlinear system estimation and control , 1995, Neurocomputing.

[8]  Brian Armstrong-Hélouvry,et al.  Control of machines with friction , 1991, The Kluwer international series in engineering and computer science.

[9]  B. Borsotto,et al.  An identification method for static and coulomb friction coefficients , 2009 .

[10]  Chun-Yi Su,et al.  Adaptive control of a class of nonlinear systems with fuzzy logic , 1994, Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference.

[11]  Wen-Fang Xie,et al.  Sliding-Mode Observer Based Adaptive Control for Servo Actuator with Friction , 2007, 2007 International Conference on Mechatronics and Automation.

[12]  Lotfi A. Zadeh,et al.  The Concepts of a Linguistic Variable and its Application to Approximate Reasoning , 1975 .

[13]  Kevin M. Passino,et al.  Direct adaptive control using dynamic structure fuzzy systems , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[14]  Ingrid Daubechies,et al.  Ten Lectures on Wavelets , 1992 .

[15]  P. Dupont.  Avoiding stick-slip through PD control , 1994, IEEE Trans. Autom. Control..